{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:59Z","timestamp":1754155439831,"version":"3.41.2"},"reference-count":12,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2016,1,18]],"date-time":"2016-01-18T00:00:00Z","timestamp":1453075200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,1,18]]},"abstract":"\n Purpose<\/jats:title>\n \u2013 The purpose of this paper is to design a special automatic redundant robot painting system (RRPS), which can automatically navigate and paint in the long non-regular duct. <\/jats:p>\n <\/jats:sec>\n \n Design\/methodology\/approach<\/jats:title>\n \u2013 The RRPS is designed with three subsystems: a redundant robot, a spraying system and a control and safety system. Based on the modular design theory, the robot falls naturally into a mobile platform, a 4-DOF location mechanism and a 10-DOF manipulator. The restriction of the distance between the links and the duct axis is used to plan the trajectory of the manipulator so that it would not collide with the duct. The restriction model is constructed by minimizing the sum of the weighed distances between the duct axis and the special points. <\/jats:p>\n <\/jats:sec>\n \n Findings<\/jats:title>\n \u2013 A fully working prototype system has been developed. Test results show that the minimal distance between the robot joints and duct is 18 mm, and it can finish painting long non-regular ducts at the speed of 12.5 cm\/s and the spraying distance of 16 cm. The quality of coating layers is good. <\/jats:p>\n <\/jats:sec>\n \n Practical implications<\/jats:title>\n \u2013 The RRPS was used to paint non-regular rectangular ducts, cylindrical ducts and long non-regular ducts. The feasibility of painting long non-regular duct is proved with the prototype implementation and successful test results. <\/jats:p>\n <\/jats:sec>\n \n Originality\/value<\/jats:title>\n \u2013 The RRPS shows a novel solution that is based on the 14-DOF redundant robot design for painting long non-regular ducts which is used in airplane.<\/jats:p>\n <\/jats:sec>","DOI":"10.1108\/ir-06-2015-0113","type":"journal-article","created":{"date-parts":[[2016,1,19]],"date-time":"2016-01-19T09:58:21Z","timestamp":1453197501000},"page":"58-64","source":"Crossref","is-referenced-by-count":16,"title":["Design of redundant robot painting system for long non-regular duct"],"prefix":"10.1108","volume":"43","author":[{"given":"Wenzhuo","family":"Chen","sequence":"first","affiliation":[]},{"given":"Yan","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Bo","family":"Li","sequence":"additional","affiliation":[]},{"given":"Weiming","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Ken","family":"Chen","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020121900140577900_b1","doi-asserted-by":"crossref","unstructured":"Iwashina, S.\n , \n Hayashi, I.\n , \n Iwatsuki, N.\n and \n Nakamura, K.\n (1994), \u201cDevelopment of in-pipe operation micro robots\u201d, Micro Machine and Human Science, 5th International Symposium on Micro Machine and Human Science Proceedings, Nagoya, pp. 41-45.","DOI":"10.1109\/ISMMHS.1994.512896"},{"key":"key2020121900140577900_b4","doi-asserted-by":"crossref","unstructured":"Liu, K.\n , \n Glenntt, R.\n , \n Lawleytt, T.J.\n and \n Lewist, F.L.\n (1993), \u201cSteward-platform-based inlet duct painting system\u201d, \n Robotics and Automation\n , Proceeding of 1993 IEEE International Conference on Robotics and Automation, Atlanta, pp. 106-113.","DOI":"10.1109\/ROBOT.1993.291969"},{"key":"key2020121900140577900_b2","unstructured":"Lim, J.\n , \n Park, H.\n , \n Moon, S.\n and \n Kim, B.\n (2007), \u201cPneumatic robot based on inchworm motion for small diameter pipe inspection\u201d, Robotics and Biomimetics, Proceedings of 2007 IEEE International Conference on Robotics and Biomimetics, Sanya, pp. 330-335."},{"key":"key2020121900140577900_b3","unstructured":"Lin, Q.\n , \n Sha, C.\n , \n Zhang, B.\n , \n Xu, L.\n and \n Sun, D.\n (2013), \u201cThe development of aircraft inlet automaitc spraying equipment\u201d, \n Manufacturing Automation\n , Vol. 35 No. 1, pp. 92-93."},{"key":"key2020121900140577900_b5","doi-asserted-by":"crossref","unstructured":"Neubauer, W.\n (1994), \u201cA spider-like robot that climbs vertically in ducts or pipes\u201d, Intelligent Robots and Systems \u201894, Proceedings of the IEEE\/RSJ\/GI on Intelligent Robots and Systems, Munich, pp. 1178-1185.","DOI":"10.1109\/IROS.1994.407465"},{"key":"key2020121900140577900_b6","doi-asserted-by":"crossref","unstructured":"Okamoto, J.\n , \n Adamowski, J.C.\n , \n Tsuzuki, M.S.\n , \n Buiochi, F.\n and \n Camerini, C.S.\n (1999), \u201cAutonomous system for oil pipelines inspection\u201d, \n Mechatronics\n , Vol. 9 No. 7, pp. 731-743.","DOI":"10.1016\/S0957-4158(99)00031-8"},{"key":"key2020121900140577900_b7","doi-asserted-by":"crossref","unstructured":"Roh, S.\n and \n Choi, H.R.\n (2005), \u201cDifferential-drive in-pipe robot for moving inside urban gas pipelines\u201d, \n IEEE Transactions on Robotics\n , Vol. 21 No. 1, pp. 1-17.","DOI":"10.1109\/TRO.2004.838000"},{"key":"key2020121900140577900_b8","doi-asserted-by":"crossref","unstructured":"Roman, H.T.\n , \n Pellegrion, B.A.\n and \n Sigrist, W.R.\n (1993), \u201cPipe crawling inspection robots: an overview\u201d, \n IEEE Transactions on Energy Conversion\n , Vol. 8 No. 3, pp. 576-583.","DOI":"10.1109\/60.257076"},{"key":"key2020121900140577900_b9","doi-asserted-by":"crossref","unstructured":"Ryew, S.M.\n , \n Baik, S.H.\n , \n Ryu, S.W.\n and \n Jung, K.M.\n (2000), \u201cIn-pipe inspection robot system with active steering mechanism\u201d, \n Intelligent Robots and Systems\n , Proceeding of 2000 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, pp. 1652-1657.","DOI":"10.1109\/IROS.2000.895209"},{"key":"key2020121900140577900_b10","unstructured":"Song, Z.\n (2007), \n Research on Kinematic Model and Motion Control of Wheeled Pipe-cleaning Robots\n , Tsinghua University, Beijing."},{"key":"key2020121900140577900_b11","doi-asserted-by":"crossref","unstructured":"Wang, Z.\n and \n Gu, H.\n (2008), \u201cA bristle-based pipeline robot for ill-constraint pipes\u201d, \n IEEE\/ASME Transactions on Mechatronics\n , Vol. 13 No. 3, pp. 383-392.","DOI":"10.1109\/TMECH.2008.924133"},{"key":"key2020121900140577900_b12","unstructured":"Yang, Y.\n , \n Zhang, D.\n and \n Wu, J.\n (2003), \u201cOptimized dimension design and computed torque control of manipulator\u201d, \n Machine Tool Hydraulics\n , Vol. 31 No. 3, pp. 52-54."}],"container-title":["Industrial Robot: An International 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